CN113674529A - Autonomous overtaking method and system - Google Patents
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Abstract
The invention relates to an autonomous overtaking method and an autonomous overtaking system. The method includes defining a state lattice space; determining track parameters at different overtaking stages according to the state lattice space; constructing a vehicle motion model according to the state lattice space and the track parameters at different overtaking stages; generating a vehicle predicted track according to the vehicle motion model; and tracking the overtaking track according to the predicted track of the vehicle, and determining the overtaking decision by using a semi-Markov decision process. The invention realizes safe and efficient autonomous overtaking of the vehicle and solves the problem of difficult track tracking in the overtaking process in the prior art.
Description
Technical Field
The invention relates to the field of intelligent driving, in particular to an autonomous overtaking method and an autonomous overtaking system.
Background
With the continuous improvement of automobile holding capacity and the continuous progress of automatic driving technology, the intelligent driving system gradually enters the public visual field, wherein the autonomous overtaking system is increasingly concerned by researchers at home and abroad. However, the current research on the autonomous overtaking system at home and abroad has certain defects.
In a driver's typical driving scenario, overtaking behavior is one of the most risky and challenging driving approaches. Aiming at the problem of intelligent vehicle autonomous overtaking, most of the existing autonomous overtaking systems adopt the traditional method, namely, the autonomous overtaking is realized through online real-time trajectory planning and trajectory tracking. For a conventional autonomous overtaking system, a main disadvantage is that the planned trajectory and the trajectory tracking control system are difficult to coordinate with each other, i.e. the planned trajectory may not be accurately tracked by the trajectory tracking controller.
In order to solve the above problems and comply with the intelligent development direction of the unmanned system, it is urgently needed to provide an intelligent autonomous overtaking method or system based on hierarchical reinforcement learning, which controls the vehicle by modeling and extracting the motion elements to complete safe and efficient autonomous overtaking.
Disclosure of Invention
The invention aims to provide an autonomous overtaking method and system, which can realize safe and efficient autonomous overtaking of a vehicle and solve the problem of difficult track tracking in the overtaking process in the prior art.
In order to achieve the purpose, the invention provides the following scheme:
an autonomous overtaking method, comprising:
defining a state lattice space; the position coordinates in the state lattice space are used to determine and represent the position of the vehicle;
determining track parameters at different overtaking stages according to the state lattice space; the trajectory parameters include: starting point positions and end point positions at different overtaking stages, course angles, and running speeds and curvatures at different overtaking stages; the different phases of overtaking include: an overtaking initial stage, a parallel driving stage and an overtaking termination stage; the overtaking initial stage is that lane change is carried out on the main vehicle; the parallel running stage is that the main vehicle and the vehicle to be overtaken run in parallel and overtaking is executed; the overtaking termination stage is that the main vehicle drives back to the original lane;
constructing a vehicle motion model according to the state lattice space and the track parameters at different overtaking stages;
generating a vehicle predicted track according to the vehicle motion model;
and tracking the overtaking track according to the predicted track of the vehicle, and determining the overtaking decision by using a semi-Markov decision process.
Optionally, the defining a state lattice space specifically includes:
wherein,
is a matrix of positions of the state lattice spaces,
are vectors of horizontal and vertical coordinate values respectively,
is a position index.
Optionally, the determining the trajectory parameters at different passing stages according to the state lattice space specifically includes:
using formulas
Determining the minimum vehicle distance between the main vehicle and the vehicle to be overtaken;
using formulas
Determining an included angle between a vector from a starting point of the overtaking initial stage to an ending point of the overtaking initial stage of the main vehicle and the level;
wherein,
the minimum distance between the main vehicle and the vehicle to be overtaken,
is the speed of the main vehicle,
is a rear vehicle of the main vehicle,
a travel time of 3 seconds, which is constant,
is the width of the lane and is,
is the longitudinal length of the main frame.
Optionally, the generating a predicted trajectory of the vehicle according to the vehicle motion model further includes:
by using
Optimizing the vehicle predicted track by adopting a Lagrange multiplier method and an iterative optimization method;
wherein,
in order to be a function of the cost,
in order to control the parameters of the device,
in the case of the vehicle state,
is the end time of the overtaking end stage,
is a time-varying utility function.
Optionally, the generating a predicted trajectory of the vehicle according to the vehicle motion model further includes:
adopting Stanley and PID controllers in a simulation platform to respectively realize the transverse and longitudinal control of the vehicle to track the input predicted track of the vehicle and determine the motion elements of the vehicle on the predicted track; the motion primitives include throttle, brake and steering control signal sequences.
An autonomous overtaking system, comprising:
the state lattice space definition module is used for defining a state lattice space; the position coordinates in the state lattice space are used to determine and represent the position of the vehicle;
the track parameter determining module is used for determining track parameters at different overtaking stages according to the state lattice space; the trajectory parameters include: starting point positions and end point positions at different overtaking stages, course angles, and running speeds and curvatures at different overtaking stages; the different phases of overtaking include: an overtaking initial stage, a parallel driving stage and an overtaking termination stage; the overtaking initial stage is that lane change is carried out on the main vehicle; the parallel running stage is that the main vehicle and the vehicle to be overtaken run in parallel and overtaking is executed; the overtaking termination stage is that the main vehicle drives back to the original lane;
the vehicle motion model building module is used for building a vehicle motion model according to the state lattice space and the track parameters at different overtaking stages;
the vehicle predicted track generation module is used for generating a vehicle predicted track according to the vehicle motion model;
and the overtaking decision determining module is used for tracking the overtaking track according to the predicted track of the vehicle and determining the overtaking decision by utilizing a semi-Markov decision process.
Optionally, the state lattice space definition module specifically includes:
wherein,
is a matrix of positions of the state lattice spaces,
are vectors of horizontal and vertical coordinate values respectively,
is a position index.
Optionally, the method further comprises:
vehicle predicted trajectory optimization module for utilizing
Optimizing the vehicle predicted track by adopting a Lagrange multiplier method and an iterative optimization method;
wherein,
in order to be a function of the cost,
in order to control the parameters of the device,
in the case of the vehicle state,
is the end time of the overtaking end stage,
is a time-varying utility function.
Optionally, the method further comprises:
the motion element determining module is used for tracking the input vehicle predicted track by respectively realizing the transverse control and the longitudinal control of the vehicle by adopting a Stanley controller and a PID controller in the simulation platform and determining the motion elements of the vehicle on the predicted track; the motion primitives include throttle, brake and steering control signal sequences.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
according to the autonomous overtaking method and the autonomous overtaking system, provided by the invention, the corresponding motion elements are reasonably and effectively modeled and extracted by utilizing the state lattice space, the track tracking effect in the overtaking process is optimized, and efficient and safe autonomous overtaking is realized. In addition, the overtaking decision module can adapt to different speed changes of the vehicle to be overtaken and make accurate and reasonable motion primitive decisions.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic flow chart of an autonomous overtaking method according to the present invention;
FIG. 2 is a schematic view of the state lattice space;
FIG. 3 is a schematic diagram of a different stage overtaking process;
FIG. 4 is a schematic diagram of the process of the initial stage of overtaking;
FIG. 5 is a schematic diagram of a process of overtaking parallel driving phases;
fig. 6 is a schematic structural diagram of an autonomous overtaking system according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide an autonomous overtaking method and system, which can realize safe and efficient autonomous overtaking of a vehicle and solve the problem of difficult track tracking in the overtaking process in the prior art.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a schematic flow chart of an autonomous overtaking method provided by the present invention, and as shown in fig. 1, the autonomous overtaking method provided by the present invention includes:
s101, defining a state lattice space, and showing in figure 2; the position coordinates in the state lattice space are used to determine and represent the position of the vehicle; i.e., to facilitate the partitioning and generation of primitives.
S101 specifically comprises the following steps:
wherein,
is a matrix of positions of the state lattice spaces,
are vectors of horizontal and vertical coordinate values respectively,
is a position index.
S102, determining track parameters at different overtaking stages according to the state lattice space; the trajectory parameters include: starting point positions and end point positions at different overtaking stages, course angles, and running speeds and curvatures at different overtaking stages; as shown in fig. 3, the different phases of the overtaking include: an overtaking initial stage, a parallel driving stage and an overtaking termination stage; the overtaking initial stage is that lane change is carried out on the main vehicle; the parallel running stage is that the main vehicle and the vehicle to be overtaken run in parallel and overtaking is executed; the overtaking termination stage is that the main vehicle drives back to the original lane;
the overtaking process can be divided into constant-speed overtaking and accelerated overtaking according to whether the overtaking is accelerated or not. In the constant-speed overtaking process, the running speed of the main vehicle is far higher than that of the vehicle to be overtaken, so that the safe overtaking can be realized by keeping the constant speed. In the process of accelerating and overtaking, as the running speed of the main vehicle is slightly higher than that of the vehicle to be overtaken, the main vehicle needs to accelerate and overtake first and then decelerate. The latter overtaking mode, namely accelerating overtaking is mainly selected, and the main vehicle keeps running at a constant speed in a parallel running stage in the overtaking process.
S102 specifically comprises the following steps:
using formulas
Determining the minimum vehicle distance between the main vehicle and the vehicle to be overtaken;
using formulas
Determining an included angle between a vector from a starting point of the overtaking initial stage to an ending point of the overtaking initial stage of the main vehicle and the level;
wherein,
the minimum distance between the main vehicle and the vehicle to be overtaken,
is the speed of the main vehicle,
is a rear vehicle of the main vehicle,
a travel time of 3 seconds, which is constant,
is the width of the lane and is,
is the longitudinal length of the main frame.
The initial point position of the host vehicle during the start phase of the passing may be determined by the three second rule. After the initial distance between the host vehicle and the vehicle to be passed is determined, the position of the motion primitive end point needs to be determined.
In the passing start stage shown in fig. 4, a coordinate system is established with the starting point of the main vehicle as the origin, and the angle between the vector from the starting point to the ending point and the horizontal coordinate system is defined as the deflection angle
. The deflection angle is calculated by the following formula:
wherein,
which indicates the width of the lane or lanes,
representing the vertical length of the primitive.
In the case of a fixed lane, the lane,
the value is fixed.
Is subject to traffic safety considerations and vehicle kinematics constraints.
The minimum value representing the yaw angle is determined by the initial distance between the host vehicle and the vehicle to be overrun.
The maximum value of the yaw angle is indicated and can be determined from the maximum permissible lateral acceleration. In that
A series of state lattice points in the value range can be selected as the motion primitive termination points in the overtaking initial stage.
In the initial stage of overtaking, the relative distance between the host vehicle and the vehicle to be overtaken can be calculated by the following formula:
in the formula,
and
representing the initial distance of the host vehicle from the vehicle to be overrun in the initial and parallel travel phases, respectively.
Representing the distance traveled by the vehicle to be overtaken during the initial stage of overtaking.
And
the travel speeds of the host vehicle and the vehicle to be overrun, respectively. Assuming that the host vehicle and the vehicle to be overtaken travel at a constant speed in each overtaking phase
Can be calculated by equation 5. Wherein,
representing the travel time in the start phase of the overtaking.
And determining the start and stop points of the motion primitives in the overtaking parallel driving stage. In the overtaking parallel driving stage (as shown in fig. 5), the transverse distance of the moving element is the lane width, so that only the longitudinal length of the moving element needs to be determined.
Assuming that the host vehicle and the vehicle to be overtaken travel at a constant speed, the relevant distance can be calculated by the following formula:
wherein,
and
respectively the running distance of the main vehicle and the vehicle to be overtaken in the parallel running stage.
Representing the travel time of the parallel travel phase.
Is a safe distance calculated according to the three second rule.
With equations 1 to 7, the maximum longitudinal travel time in the parallel travel phase can be determined from equation 8, based on the nature and speed discretization of the motion primitives in the initial phase. Therefore, the maximum longitudinal length of the parallel driving phase motion primitive can be roughly estimated by equation 5. Motion primitives with longitudinal lengths between 0 and the maximum longitudinal length and end points satisfying the state lattice space constraints are feasible primitives for the parallel driving phase.
S103, constructing a vehicle motion model according to the state lattice space and the track parameters at different overtaking stages;
s104, generating a vehicle predicted track according to the vehicle motion model;
before S104, the method further includes:
adopting Stanley and PID controllers in a simulation platform to respectively realize the transverse and longitudinal control of the vehicle to track the input predicted track of the vehicle and determine the motion elements of the vehicle on the predicted track; the motion primitives include throttle, brake and steering control signal sequences.
(1) Vehicle longitudinal control method
The longitudinal control of the vehicle is mainly realized by a PID controller. The controller can convert the expected vehicle speed signal into the control quantity of an accelerator or a brake pedal, thereby realizing the vehicle motion. The actual design uses the desired speed minus the actual speed as the control deviation signal.
(2) Vehicle lateral control method
The Stanley controller is mainly used for the lateral control of the vehicle. The Stanley method combines course angle deviation with lateral tracking error to design the controller and calculates with the front axle center as a reference point. The Stanley method adopts a nonlinear feedback function, and can calculate the required steering wheel angle according to the geometric relationship between the vehicle position state and the preset path and the comprehensive course deviation and the transverse tracking error.
And after the planned track is tracked and controlled by the horizontal controller and the vertical controller, a motion element for controlling the vehicle can be generated. Because the reinforcement learning processing is in a discrete state, and the vehicle speed is continuous, the vehicle speed needs to be discretized first, and then the motion primitives under different discrete speeds are summarized and sorted, and finally a motion primitive library is formed for the learning and training of a motion primitive decision algorithm.
In the model prediction track generation method, the positions of a starting point and an end point are required to be known firstly, and then control parameters are searched by a lookup table, wherein the control parameters and track parameters for coding the track shape are stored in the lookup table. The trajectory parameters include start and end positions, heading angle, speed, and curvature. By time-domain interpolation of the control parameters, predictive control sequences can be derived, which are input to the vehicle motion model to obtain the predicted trajectory.
After S104, further comprising:
by using
Optimizing the vehicle predicted track by adopting a Lagrange multiplier method and an iterative optimization method;
wherein,
in order to be a function of the cost,
in order to control the parameters of the device,
in the case of the vehicle state,
is the end time of the overtaking end stage,
is a time-varying utility function.
And predicting the norm of the track end position and the expected end position as a cost error, and aiming at reducing the track error by optimizing the control parameters. The system adopts a Lagrange multiplier method and an iterative optimization method to solve so as to reduce cost error values until the corresponding track errors reach an allowable error range, thereby obtaining more ideal control parameters and enabling the generated predicted track to meet the requirement of the track errors.
And S105, carrying out overtaking track tracking according to the predicted track of the vehicle, and determining an overtaking decision by using a semi-Markov decision process.
Specifically, the generated motion element library and real-time data of the main vehicle and the vehicle to be overtaken provided by the environment are used as input, the motion elements of each stage are selected and combined in the motion element library according to optimization indexes by analyzing the real-time speed and position information of the main vehicle and the vehicle to be overtaken, and vehicle control signals including an accelerator, a brake and a steering are output in real time. The specific evaluation indexes comprise passing time, average transverse acceleration in the overtaking process, position difference between the lane changing position and an ideal lane changing point and whether collision occurs or not, and a reward function in the reinforcement learning model is designed on the basis of the position difference.
S105 specifically comprises the following steps:
1) and (4) defining a state space. For a passing decision, the position of the host vehicle is an essential part of the state space, which can be represented using state lattice space coordinate values. The research divides the overtaking problem into different categories according to the difference of the initial speeds of the main vehicle and the vehicle to be overtaken. Thus, the speed of the host vehicle and the vehicle to be overrun should be contained within the state space. In addition, since the primitive sets available for option selection are different in different passing phases, the periodicity of the passing problem should be taken into consideration. In summary, the state space is defined as:
wherein,
a position matrix representing the host vehicle.
And
representing the velocity matrices of the host vehicle and the vehicle to be overrun, respectively.
Refers to the overtaking phase matrix.
2) And defining an action space. The motion space can be expressed as:
wherein,
a set of selectable options representing the start, parallel and end phases of overtaking, respectively.
3) A reward function definition. For the unmanned system, safety, efficiency and comfort are the most basic evaluation indexes. In addition, due to the particularity of the parallel driving phase, a lane change position reward is defined for evaluating the quality of the lane change position. In summary, the reward function design includes several rewards: efficiency reward, comfort reward, collision reward and lane change position reward are respectively provided
、
、
、
And (4) showing. The efficiency reward is evaluated by the transit time of the motion element, and the longer the transit time of the motion element is, the smaller the reward value is. Comfort reward is related to the average lateral acceleration through a passing phaseAnd the larger the average lateral acceleration, the smaller the reward. In addition, if a collision occurs, the agent is penalized more, such as giving a larger negative value as the reward value. The expected position of the lane change point in the parallel travel phase can be calculated using the three second rule. Therefore, in the parallel travel phase, the absolute value of the difference between the lane change position of the host vehicle and the expected position is used to evaluate the lane change position.
In the formula,
the coefficient is a constant coefficient,
representing the time interval in which the primitives are executed,
the average lateral acceleration is indicated.
Is the abscissa of the vehicle to be overtaken.
Fig. 6 is a schematic structural diagram of an autonomous overtaking system provided by the present invention, and as shown in fig. 6, the autonomous overtaking system provided by the present invention includes:
a state lattice space definition module 601, configured to define a state lattice space; the position coordinates in the state lattice space are used to determine and represent the position of the vehicle;
a trajectory parameter determination module 502, configured to determine trajectory parameters at different stages of overtaking according to the state lattice space; the trajectory parameters include: starting point positions and end point positions at different overtaking stages, course angles, and running speeds and curvatures at different overtaking stages; the different phases of overtaking include: an overtaking initial stage, a parallel driving stage and an overtaking termination stage; the overtaking initial stage is that lane change is carried out on the main vehicle; the parallel running stage is that the main vehicle and the vehicle to be overtaken run in parallel and overtaking is executed; the overtaking termination stage is that the main vehicle drives back to the original lane;
a vehicle motion model construction module 503, configured to construct a vehicle motion model according to the state lattice space and the trajectory parameters at different overtaking stages;
a vehicle predicted track generation module 604 for generating a vehicle predicted track according to the vehicle motion model;
and the overtaking decision determining module 605 is used for tracking the overtaking track according to the predicted track of the vehicle and determining the overtaking decision by using a semi-Markov decision process.
The state lattice space definition module 601 specifically includes:
wherein,
is a matrix of positions of the state lattice spaces,
are vectors of horizontal and vertical coordinate values respectively,
is a position index.
The invention provides an autonomous overtaking system, which further comprises:
vehicle predicted trajectory optimization module for utilizing
Optimizing the vehicle predicted track by adopting a Lagrange multiplier method and an iterative optimization method;
wherein,
in order to be a function of the cost,
in order to control the parameters of the device,
in the case of the vehicle state,
is the end time of the overtaking end stage,
is a time-varying utility function.
The invention provides an autonomous overtaking system, which further comprises:
the motion element determining module is used for tracking the input vehicle predicted track by respectively realizing the transverse control and the longitudinal control of the vehicle by adopting a Stanley controller and a PID controller in the simulation platform and determining the motion elements of the vehicle on the predicted track; the motion primitives include throttle, brake and steering control signal sequences.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (9)
1. An autonomous overtaking method, comprising:
defining a state lattice space; the position coordinates in the state lattice space are used to determine and represent the position of the vehicle;
determining track parameters at different overtaking stages according to the state lattice space; the trajectory parameters include: starting point positions and end point positions at different overtaking stages, course angles, and running speeds and curvatures at different overtaking stages; the different phases of overtaking include: an overtaking initial stage, a parallel driving stage and an overtaking termination stage; the overtaking initial stage is that lane change is carried out on the main vehicle; the parallel running stage is that the main vehicle and the vehicle to be overtaken run in parallel and overtaking is executed; the overtaking termination stage is that the main vehicle drives back to the original lane;
constructing a vehicle motion model according to the state lattice space and the track parameters at different overtaking stages;
generating a vehicle predicted track according to the vehicle motion model;
and tracking the overtaking track according to the predicted track of the vehicle, and determining the overtaking decision by using a semi-Markov decision process.
2. The method according to claim 1, wherein said defining a state lattice space comprises:
wherein,
is a matrix of positions of the state lattice spaces,
are vectors of horizontal and vertical coordinate values respectively,
is a position index.
3. The autonomous overtaking method as claimed in claim 1, wherein said determining trajectory parameters at different phases of overtaking from state lattice space specifically comprises:
using formulas
Determining the minimum vehicle distance between the main vehicle and the vehicle to be overtaken;
using formulas
Determining an included angle between a vector from a starting point of the overtaking initial stage to an ending point of the overtaking initial stage of the main vehicle and the level;
wherein,
the minimum distance between the main vehicle and the vehicle to be overtaken,
is the speed of the main vehicle,
is a rear vehicle of the main vehicle,
is constant, andis a travel time of 3 seconds and is,
is the width of the lane and is,
is the longitudinal length of the main frame.
4. The method of claim 1, wherein generating the predicted vehicle trajectory based on the vehicle motion model further comprises:
by using
Optimizing the vehicle predicted track by adopting a Lagrange multiplier method and an iterative optimization method;
wherein,
in order to be a function of the cost,
in order to control the parameters of the device,
in the case of the vehicle state,
is the end time of the overtaking end stage,
is a time-varying utility function.
5. The method of claim 1, wherein generating the predicted vehicle trajectory based on the vehicle motion model further comprises:
adopting Stanley and PID controllers in a simulation platform to respectively realize the transverse and longitudinal control of the vehicle to track the input predicted track of the vehicle and determine the motion elements of the vehicle on the predicted track; the motion primitives include throttle, brake and steering control signal sequences.
6. An autonomous overtaking system, comprising:
the state lattice space definition module is used for defining a state lattice space; the position coordinates in the state lattice space are used to determine and represent the position of the vehicle;
the track parameter determining module is used for determining track parameters at different overtaking stages according to the state lattice space; the trajectory parameters include: starting point positions and end point positions at different overtaking stages, course angles, and running speeds and curvatures at different overtaking stages; the different phases of overtaking include: an overtaking initial stage, a parallel driving stage and an overtaking termination stage; the overtaking initial stage is that lane change is carried out on the main vehicle; the parallel running stage is that the main vehicle and the vehicle to be overtaken run in parallel and overtaking is executed; the overtaking termination stage is that the main vehicle drives back to the original lane;
the vehicle motion model building module is used for building a vehicle motion model according to the state lattice space and the track parameters at different overtaking stages;
the vehicle predicted track generation module is used for generating a vehicle predicted track according to the vehicle motion model;
and the overtaking decision determining module is used for tracking the overtaking track according to the predicted track of the vehicle and determining the overtaking decision by utilizing a semi-Markov decision process.
7. The autonomous overtaking system as recited in claim 6 wherein said state lattice space definition module comprises:
wherein,
is a matrix of positions of the state lattice spaces,
are vectors of horizontal and vertical coordinate values respectively,
is a position index.
8. The autonomous overtaking system as recited in claim 6, further comprising:
vehicle predicted trajectory optimization module for utilizing
Optimizing the vehicle predicted track by adopting a Lagrange multiplier method and an iterative optimization method;
wherein,
in order to be a function of the cost,
in order to control the parameters of the device,
in the case of the vehicle state,
is the end time of the overtaking end stage,
is a time-varying utility function.
9. The autonomous overtaking system as recited in claim 6, further comprising:
the motion element determining module is used for tracking the input vehicle predicted track by respectively realizing the transverse control and the longitudinal control of the vehicle by adopting a Stanley controller and a PID controller in the simulation platform and determining the motion elements of the vehicle on the predicted track; the motion primitives include throttle, brake and steering control signal sequences.
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